Convert rotation matrix to axis/angle rotation
Simulink 3D Animation / Utilities
Converts Rotation Matrix (defined columnwise as 3x3 matrix or as 9-element column vector) into the Axis / Angle rotation representation used for defining rotations in VR.
input 1— Rotation matrix
3D rotation, specified as a 3-by-3 columnwise defined matrix, also known as a direction cosine matrix.
A representation of a three-dimensional spherical rotation as a 3-by-3 real, orthogonal matrix R: RTR = RRT = I, where I is the 3-by-3 identity and RT is the transpose of R. This matrix is also known as the direction cosine matrix (DCM). The DCM is the orientation of the object in space, relative to its parent node.
Output 1— Axis/Angle rotation
Output rotation, returned as a 4-element vector in axis/angle notation,. The first three elements specify the axis of rotation and the fourth element specifies the angle.
Maximum value to treat input value as zero— Effective zero value
1e-12(default) | scalar
Input is considered to be zero if it is equal to, or lower than, this value. By default, the parameter is set to ε = 1e-12.